haktanm / kitti_to_ros2_bag

Convert unsync raw kitti data to ros2 bag format (cam + imu)

Convert Raw Kitti Data To ROS2 Bag Format

This repo is designed for converting the raw unsync Kitti data to ros2 bag format. I write the IMU and Images to a bag file.

Installation

Dowload the repo using git.

git clone https://github.com/HaktanM/kitti_to_ros2_bag.git

I recommend creating a python environment.

cd kitti_to_ros2_bag
python3 -m venv env # creates a virtual environment
source env/bin/activate

You need to install rosbag library. Even if you have ros2 only, do not worry.

pip install rosbags

That's it.

Demo

İnstall one of the raw data from here. Note that you are expected to dowload [unsynced+unrectified data]. Modify the main path inside the kitti_to_ros2_bag.py.

main_path = '/home/hakito/datasets/kitti_raw_unsncy/2011_09_30_drive_0028_extract/2011_09_30/2011_09_30_drive_0028_extract'

The just run.

Additional Notes

You can check your rosbag by

ros2 bag info /rosbag_deneme